arms::odom Namespace Reference

This namespace deals with the odometry system. More...

Classes
struct	config_data_s

Typedefs
typedef enum arms::odom::EncoderType	EncoderType_e_t
typedef struct arms::odom::config_data_s	config_data_s_t

Enumerations
enum	EncoderType { ENCODER_ADI , ENCODER_ROTATION }

Functions
double	getLeftEncoder ()
double	getRightEncoder ()
double	getMiddleEncoder ()
Point	getPosition ()
double	getHeading (bool radians=false)
void	reset (Point point={0, 0})
void	reset (Point point, double angle)
double	getAngleError (Point point)
double	getDistanceError (Point point)

Variables
std::shared_ptr< pros::Imu >	imu

Detailed Description

This namespace deals with the odometry system.

It is used to track the robot's position on the field.

Function Documentation

getAngleError()

double arms::odom::getAngleError

(

Point

point

)

Parameters

point

The point we want to get the angle error of

Example:

// get the angle error of the point (24, 0)
double error = arms::odom::getAngleError({24, 0});

Return the angle error between the robot's current heading and the angle to the provided point.

getDistanceError()

double arms::odom::getDistanceError

(

Point

point

)

Parameters

point

The point we want to get the distance error of

Example:

// get the distance error of the point (24, 0)
double error = arms::odom::getDistanceError({24, 0});

Return the distance error between the robot's current position and the provided point.

getHeading()

double arms::odom::getHeading

(

bool

radians = false

)

Parameters

radians

If true, the heading will be returned in radians. If false, the heading will be returned in degrees.

Return the robot's heading based in degrees or radians, depending on the radians option

getLeftEncoder()

double arms::odom::getLeftEncoder

(

)

Return the left encoder position

getMiddleEncoder()

double arms::odom::getMiddleEncoder

(

)

Return the middle encoder position

getPosition()

Point arms::odom::getPosition

(

)

Return a Point representing the robot's position on the field

getRightEncoder()

double arms::odom::getRightEncoder

(

)

Return the right encoder position

reset() [1/2]

void arms::odom::reset	(	Point	point,
		double	angle
	)

Parameters

point	The position to reset the robot to
angle	The angle to reset the robot to

Example:

// reset the robot's position to be at x: 24 inches, y: 0 inches, and angle: 90 degrees
arms::odom::reset({24, 0}, 90);

Reset the odometry system to the provided position and angle.

reset() [2/2]

void arms::odom::reset

(

Point

point = {0, 0}

)

Parameters

point

The position to reset the robot to

Example:

// reset the robot's position to be at x: 24 inches, y: 0 inches 
arms::odom::reset({24, 0});

Reset the odometry system to the provided position.

Variable Documentation

imu

std::shared_ptr< pros::Imu > arms::odom::imu

extern

The IMU sensor. This is used by odom to get the robot's heading.